Mobile robot path planning based on fusion of improved A* algorithm and adaptive DWA algorithm

Abstract

For mobile robot autonomous navigation, path planning algorithm matters. For the reason that traditional A* algorithm is unable to achieve the global path planning perfectly and avoid unknown obstacles at the same time, the mobile robot algorithm combining improved A* with adaptive DWA was proposed for path planning. Firstly, safe distance judgment is added in A* algorithm to avoid the problem that the path crosses the vertex of obstacle diagonally. Secondly, the dynamic tangential method is used to smooth the path of A* algorithm, which is more consistent with the actual motion curve of mobile robot. Then, the path key points explored by improved A* algorithm are extracted as intermediate target points of the velocity adaptive DWA algorithm. Unknown obstacles avoidance based on the optimal global path planning is realized. Finally, the proposed fusion algorithm’s feasibility is verified through mobile robot ROS simulation.